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ANYmal on Rollerblades: Design, Simulation and Control of a Rollerblading Robot
This project explores novel design, simulation and locomotion principles to enable ANYmal to perform gaits that mimic those used by human rollerbladers, for example those that combine walking or running with skating motion.
Keywords: Legged Robots, Wheeled Robots, Design, Locomotion Control, Programming. C++
A new passive wheel type version of the quadrupedal robot ANYmal subjected to nonholonomic constraints is explored in the following work. Novel locomotion principles allow robots to carry out tasks that cannot be tackled using more conventional means like walking or powered wheeled motions.
Wheel-on-leg robots are a unique type of exploration platform that can drive and walk simultaneously. This offers high degree of mobility in any kind of terrain. The robot is able to decrease its power consumption by using its wheels. In addition, the legs enable the robot to climb over obstacles in challenging terrain. The ability to change the leg configuration or to adapt the robot's pose is also advantageous when optimizing the traction of the wheels and increasing the stability of the robot. This high mobility comes with the drawback of high motion complexity. The goal of this project is to explore design principles and locomotion controller for wheel-on-leg robots and to implement these algorithms on our quadrupedal robot ANYmal.
A new passive wheel type version of the quadrupedal robot ANYmal subjected to nonholonomic constraints is explored in the following work. Novel locomotion principles allow robots to carry out tasks that cannot be tackled using more conventional means like walking or powered wheeled motions.
Wheel-on-leg robots are a unique type of exploration platform that can drive and walk simultaneously. This offers high degree of mobility in any kind of terrain. The robot is able to decrease its power consumption by using its wheels. In addition, the legs enable the robot to climb over obstacles in challenging terrain. The ability to change the leg configuration or to adapt the robot's pose is also advantageous when optimizing the traction of the wheels and increasing the stability of the robot. This high mobility comes with the drawback of high motion complexity. The goal of this project is to explore design principles and locomotion controller for wheel-on-leg robots and to implement these algorithms on our quadrupedal robot ANYmal.
Depending on the interests and strengths of the candidate, we can offer the following work packages:
- Design of rollerblades for ANYmal.
- Setup of the simulation environment.
- Exploration of locomotion controller for a rollerblading robot.
- Implementation of the locomotion algorithms on our quadrupedal robot ANYmal.
- Performance evaluation of the control algorithms.
Depending on the interests and strengths of the candidate, we can offer the following work packages:
- Design of rollerblades for ANYmal. - Setup of the simulation environment. - Exploration of locomotion controller for a rollerblading robot. - Implementation of the locomotion algorithms on our quadrupedal robot ANYmal. - Performance evaluation of the control algorithms.
Please note that due to the limited number of positions, selection is highly competitive. Applicants should have experience in some of the following topics:
- CAD design.
- Modeling and control of robots.
- Kinematics and dynamics of robots.
- C++ programming.
Please note that due to the limited number of positions, selection is highly competitive. Applicants should have experience in some of the following topics:
- CAD design. - Modeling and control of robots. - Kinematics and dynamics of robots. - C++ programming.
Please contact Marko Bjelonic (marko.bjelonic@mavt.ethz.ch) for any questions. Your application should include a brief motivational statement, your transcript of records and your CV.
Please contact Marko Bjelonic (marko.bjelonic@mavt.ethz.ch) for any questions. Your application should include a brief motivational statement, your transcript of records and your CV.